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IV TK OPERATOR IN FILERING Notice that in case of a long window size, small values of
beta result in poor performance because the filter is too
Teager-Kaiser filtering technique is a detection based
slow to follow nonstationary variations of the signal. On
approach in which outliers are first detected using an
the other hand, when win is small, also smaller beta is
adaptive threshold (Th) based on the TK energy-like
desired to achieve good performance.
quantity, and then replaced by their estimated values. TK
filter is described by the following algorithm (formulated
Similarly, Table II provides the MSE for the alpha-
for the OTD filtering application):
trimmed mean filter [1] with respect to the window size
and the alpha parameter:
Inputs:
OTD measurement vector of length L
Table II
β adaptivity parameter MSE win=5 win=10 win=15 win=20 win=25 win=30 win=35 win=40
α=0.00 4,27 2,60 2,02 1,78 1,65 1,58 1,57 1,58
win length of the window α=0.05 4,27 2,60 2,02 1,62 1,53 1,50 1,51 1,51
α=0.1 4,27 2,60 1,81 1,62 1,48 1,46 1,47 1,50
α=0.15 4,27 2,29 1,76 1,56 1,48 1,46 1,48 1,53
Output: α=0.20 3,85 2,24 1,73 1,56 1,48 1,46 1,49 1,53
α=0.25 3,85 2,24 1,73 1,56 1,48 1,47 1,49 1,53
Filt_OTD filtered OTD signal of length L α=0.30 3,85 2,27 1,75 1,58 1,49 1,47 1,49 1,53
α=0.35 3,85 2,27 1,79 1,60 1,49 1,47 1,49 1,53
α=0.40 4,38 2,43 1,87 1,62 1,51 1,49 1,51 1,55
α=0.45 4,38 2,43 1,87 1,69 1,55 1,50 1,52 1,58
Initializations:
Tmp _ OTD = OTD
Performance comparison between the three filtering
E (1) = OTD(2)2 − OTD(1) × OTD(3) algorithms - namely Teager filter, sliding window mean,
Th = β × E (1) and alpha-trimmed mean filter - is provided for as a
function of window length in Figure 1. Only window
length is varied, other parameters are fixed to the value
that gave the minimum MSE. As we can see, for small 2540
MSE=2.166, MAXE=5.0115, Window=5, β=0.19
Teager Filter
window lengths the results are clearly beneficial for the 2520
2540
MSE=3.8539, MAXE=8.6667, Window=5, α=0.23
Alpha−Trimmed
At this point it is important to bear in mind that the 2520
2540
sorting and is therefore more complex, at least MSE=4.2666, MAXE=8.06, Window=5
Running Mean
O(win*log(win)), depending on the sorting algorithm 2520
used. 2500
2480
The filter performance is also visualized for two specific 0 200 400 600 800 1000 1200
Samples (Time)
1400 1600 1800 2000
cases. Figure 2 shows the filtering results for optimum Figure 3. Filtering of OTD signal with the Teager-Kaiser
parameters, and Figure 3 shows the filtering results for filter, alpha-trimmed mean, and running mean filter,
using optimal α and β parameters. The window length is
short window length of 5, with optimal α and β. equal to 5.
30
Teager, MSE
Alpha−Trimmed, MSE
Running Mean, MSE
Teager, MAXE
V TK OPERATOR IN DENOISING
25 Alpha−Trimmed, MAXE
Running Mean, MAXE
The TK operator based denoising algorithm consists of
three steps:
3.5
20
1. Calculate the energy-like (E) and threshold (Th) for
3
each sample, and save indices of the samples for
MSE, MAXE
5
The algorithm used in the simulations is as follows:
Inputs:
0 OTD measurement vector of length L
0 5 10 15 20 25 30
OTD Signal
2500
Initializations:
2450 Tmp _ OTD = OTD
0 200 400 600 800 1000 1200 1400 1600 1800 2000
2520
2500
Th = β × E (1)
2480 ind = 1
0 200 400 600 800 1000 1200 1400 1600 1800 2000
2540 N =0
Alpha−Trimmed
2500
TK denoising algorithm:
2480
0 200 400 600 800 1000 1200 1400 1600 1800 2000 for n = 2 to L, do
2540
Running Mean
2480
0 200 400 600 800 1000 1200
Samples (Time)
1400 1600 1800 2000
if E (n) < Th(n) then
Figure 2. Filtering of OTD signal with the Teager-Kaiser ind ← [ind n]
filter, alpha-trimmed mean, and running mean filter,
using optimum parameters. N ← N +1
end if
The proposed filtering technique is used in on-line end do
applications, which require causal signal processing ind ← [ind L]
methods. On the contrary, denoising is not time-
dependent process.
for k = 1 to N , do VI CONCLUSIONS
slope ← [Tmp _ OTD(ind (k + 1)) − Tmp _ OTD(ind ( k ))]/
In this paper we proposed a new approach for filtering
[ind (k + 1) − ind (k )] and denoising one-dimensional signals based on the
for i = ind ( k ) + 1 to ind (k + 1) − 1, do energy-like Teager operator. In particular, the filtering
Tmp _ OTD( n) ← Tmp _ OTD( n − 1) + slope approach is used for real-time postprocessing of OTD
end do signals heavily affected by multipath interference.
end do Consequently, by minimizing the variations in the OTD
Pad _ 1 ← [Tmp _ OTD(1) L Tmp _ OTD(( win − 1) / 2)] signals, we improve the positioning accuracy. The
Pad _ 2 ← [Tmp _ OTD( L + 1 − ( win − 1) / 2) L Tmp _ OTD( L)] Teager filter gives clearly better performance than the
Tmp _ OTD ← [Pad _ 1 Tmp _ OTD Pad _ 2]
other approaches when short window length is used. In
other words, the Teager filter would allow to use shorter
sum ← [Tmp _ OTD(1) L Tmp _ OTD( win)]× [1 L 1]T window length for a given MSE performance, and clearly
for t = 1 to L, do faster changes in the desired signal component could be
Filt_OTD(t) ← sum/win tolerated than with the other approaches.
sum ← sum + Tmp _ OTD(t + win + 1) − Tmp _ OTD(t )
end do ACKNOWLEDGEMENT
REFERENCES
18
Smoothing Teager, MSE
Smoothing Alpha−Trimmed, MSE [1] J. Astola and P. Kuosmanen, Fundamentals of Nonlinear
16 Somoothing Running Mean, MSE
Smoothing Teager, MAXE Digital Filtering, CRC Press LLC, 1997.
Smoothing Alpha−Trimmed, MAXE
Smoothing Running Mean, MAXE
14
[2] FCC Regulation Proposal: Notice of Proposed Rule
3
12 Making, FCC Docket No. 94-237, Adopted Date: Sept.
2.5
19, 1994, Release Date: Oct. 19,1994.
MSE, MAXE
10 2
1.5
[3] J. F. Kaiser, "On a simple algorithm to calculate the
8
1
'energy' of a signal", Proc. IEEE ICASSP’90,
6
0.5 Albuquerque, New Mexico, pp. 381-384, April 1990.
0
80 85 90 95 100
4 [4] J. F. Kaiser, "On Teager's energy algorithm and its
generalization to continuous signals", Proc. 4th IEEE
2
Digital Signal Proc. Workshop, Mohonk (New Paltz),
NY, September 1990.
0
0 10 20 30 40 50 60 70 80 90 100
Window Length
Figure 4. MSE and maximum absolute error of the [5] P. Maragos, J. F. Kaiser, and T. F.Quatieri, "On amplitude
smoothing Teager-Kaiser, alpha-trimmed, and running and frequency demodulation using energy operators",
mean filter. IEEE Trans. Signal Proc., Vol. 41, pp. 1532-1550, Apr.
1993.
2540
MSE=0.41518, MAXE=1.6567, Window=100, β=0.16384
[6] R. Hamila, J. Astola, F. Alaya Cheikh, M. Gabbouj, and
Smooth. Teager
2540
MSE=0.7973, MAXE=1.825, Window=100 [8] ETSI GSM 05.05, Digital cellular telecommunication
2520 system (Phase 2+); Radio transmission and reception,
2500
Release 1997, version 6.3.0, ETSI, 1998.
2480
0 200 400 600 800 1000 1200
Samples (Time)
1400 1600 1800 2000 [9] G. P. Yost, and S. Panchapakesan, Improvement in
Figure 5. Denoising results for optimum α and β, and Estimation of Time of Arrival (TOA) from Timing
window length 100. Advance (TA), Proc. IEEE Universal Personal
Communications (IUPC 98), Florens Italy, 1998.